EP3737529A4 - Roboterhandwerkzeugschärf- und -reinigungsvorrichtung - Google Patents

Roboterhandwerkzeugschärf- und -reinigungsvorrichtung Download PDF

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Publication number
EP3737529A4
EP3737529A4 EP19738878.8A EP19738878A EP3737529A4 EP 3737529 A4 EP3737529 A4 EP 3737529A4 EP 19738878 A EP19738878 A EP 19738878A EP 3737529 A4 EP3737529 A4 EP 3737529A4
Authority
EP
European Patent Office
Prior art keywords
cleaning apparatus
hand tool
robotic hand
tool sharpening
sharpening
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP19738878.8A
Other languages
English (en)
French (fr)
Other versions
EP3737529A1 (de
EP3737529B1 (de
Inventor
Daniel D. GRAVES
Joseph C. JURANITCH
Mary T. GRAVES
Scott D. Taylor
Steven T. LUONG
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Razor Edge Systems Inc
Original Assignee
Razor Edge Systems Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Razor Edge Systems Inc filed Critical Razor Edge Systems Inc
Publication of EP3737529A1 publication Critical patent/EP3737529A1/de
Publication of EP3737529A4 publication Critical patent/EP3737529A4/de
Application granted granted Critical
Publication of EP3737529B1 publication Critical patent/EP3737529B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B3/00—Sharpening cutting edges, e.g. of tools; Accessories therefor, e.g. for holding the tools
    • B24B3/36—Sharpening cutting edges, e.g. of tools; Accessories therefor, e.g. for holding the tools of cutting blades
    • B24B3/54—Sharpening cutting edges, e.g. of tools; Accessories therefor, e.g. for holding the tools of cutting blades of hand or table knives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
    • B24B19/001—Single-purpose machines or devices for particular grinding operations not covered by any other main group for table cutlery
    • B24B19/002—Single-purpose machines or devices for particular grinding operations not covered by any other main group for table cutlery for knife blades
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
    • B24B55/02—Equipment for cooling the grinding surfaces, e.g. devices for feeding coolant
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24D—TOOLS FOR GRINDING, BUFFING OR SHARPENING
    • B24D15/00—Hand tools or other devices for non-rotary grinding, polishing, or stropping
    • B24D15/06—Hand tools or other devices for non-rotary grinding, polishing, or stropping specially designed for sharpening cutting edges
    • B24D15/08—Hand tools or other devices for non-rotary grinding, polishing, or stropping specially designed for sharpening cutting edges of knives; of razors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24D—TOOLS FOR GRINDING, BUFFING OR SHARPENING
    • B24D15/00—Hand tools or other devices for non-rotary grinding, polishing, or stropping
    • B24D15/06—Hand tools or other devices for non-rotary grinding, polishing, or stropping specially designed for sharpening cutting edges
    • B24D15/08—Hand tools or other devices for non-rotary grinding, polishing, or stropping specially designed for sharpening cutting edges of knives; of razors
    • B24D15/081—Hand tools or other devices for non-rotary grinding, polishing, or stropping specially designed for sharpening cutting edges of knives; of razors with sharpening elements in interengaging or in mutual contact
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0065—Polishing or grinding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0023—Gripper surfaces directly activated by a fluid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37555—Camera detects orientation, position workpiece, points of workpiece
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37558—Optical sensor, scanner
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40425—Sensing, vision based motion planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45159—Dressing, sharpening, trueing tool
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45161—Grinding machine
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45162—Chamfer grinding
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49317—Traverse grinding, move along workpiece
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y10S901/09—Closed loop, sensor feedback controls arm movement
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y10S901/31—Gripping jaw
    • Y10S901/36—Actuating means
    • Y10S901/37—Fluid motor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/46—Sensing device
    • Y10S901/47—Optical

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
EP19738878.8A 2018-01-11 2019-01-11 Roboterhandwerkzeugschärf- und -reinigungsvorrichtung Active EP3737529B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US15/867,842 US10661406B2 (en) 2018-01-11 2018-01-11 Robotic hand tool sharpening and cleaning apparatus
PCT/US2019/013231 WO2019140220A1 (en) 2018-01-11 2019-01-11 Robotic hand tool sharpening and cleaning apparatus

Publications (3)

Publication Number Publication Date
EP3737529A1 EP3737529A1 (de) 2020-11-18
EP3737529A4 true EP3737529A4 (de) 2021-10-20
EP3737529B1 EP3737529B1 (de) 2024-05-01

Family

ID=67139306

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19738878.8A Active EP3737529B1 (de) 2018-01-11 2019-01-11 Roboterhandwerkzeugschärf- und -reinigungsvorrichtung

Country Status (3)

Country Link
US (1) US10661406B2 (de)
EP (1) EP3737529B1 (de)
WO (1) WO2019140220A1 (de)

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CN109963689B (zh) * 2016-11-18 2021-12-28 Ａｇｃ株式会社 曲面板的加工装置、及加工了外周部的曲面板的制造方法
US11478890B2 (en) * 2018-05-25 2022-10-25 Edgecraft Corporation Assembly for sharpening and observing wear on a blade
US20190366499A1 (en) * 2018-05-31 2019-12-05 The Hillman Group, Inc. Self-service knife sharpening kiosk
DE102018113122A1 (de) * 2018-06-01 2019-12-05 Mack Rides Gmbh & Co Kg Verfahren zum Facettieren sowie Vorrichtung für ein solches Verfahren
EP3917721A4 (de) * 2019-01-31 2022-10-26 The Hillman Group, Inc. Automatische messerschärfmaschine mit schärfedetektion
US11312017B2 (en) * 2019-02-08 2022-04-26 Omnisharp, Llc Robotic control for tool sharpening
CN110170908B (zh) * 2019-03-28 2024-03-22 北京百慕合金有限责任公司 砂轮切割设备及切割方法
CN110103124B (zh) * 2019-03-28 2024-03-22 北京百慕合金有限责任公司 砂轮片装置、砂轮切割设备及切割方法
US11772223B2 (en) 2019-05-17 2023-10-03 Vitaly Tsukanov Systems for blade sharpening and contactless blade sharpness detection
US11904428B2 (en) 2019-10-25 2024-02-20 Vitaly Tsukanov Systems for blade sharpening and contactless blade sharpness detection
WO2021081536A1 (en) * 2019-10-25 2021-04-29 Vitaly Tsukanov Systems for blade sharpening and contactless blade sharpness detection
CN110868685B (zh) * 2019-11-27 2020-12-18 海宁人民机械有限公司 一种喇叭装配组装机
CN110814951A (zh) * 2019-11-29 2020-02-21 魏志帅 一种便于调节角度的汽车零部件用打磨装置
WO2021127244A1 (en) * 2019-12-19 2021-06-24 Gerber Technology Llc Apparatus for adjusting a knife edge offset in a cutter toolhead
CN111113242B (zh) * 2019-12-30 2021-04-30 山东丽波电子科技有限公司 一种用于塑料注塑模具的全方位抛光设备及其工作方法
CN111190420B (zh) * 2020-01-07 2021-11-12 大连理工大学 一种多移动机器人在安防领域中协作搜索与围捕方法
CN111266940A (zh) * 2020-03-23 2020-06-12 珞石（北京）科技有限公司 一种采用砂轮机自动化刀具双面打磨开刃工艺方法
CN111975501B (zh) * 2020-08-19 2022-03-08 宁波三韩合金材料有限公司 一种硬质合金刀片磨削成型加工生产线
KR102385378B1 (ko) * 2020-10-27 2022-04-12 선문대학교 산학협력단 로딩 유니트가 구비된 블레이드 클리닝 장치
CN112386128B (zh) * 2020-11-16 2021-11-05 台州智子科技有限公司 一种咖啡饮料的原料研磨装置
CN112571166A (zh) * 2020-12-03 2021-03-30 广东韶钢松山股份有限公司 一种辊环的磨削系统及磨削方法
CN112621408A (zh) * 2020-12-16 2021-04-09 新沂海福尔通用仪表有限公司 带有回收机构的透明石英管预制棒打磨系统及其控制方法
US20230049183A1 (en) * 2021-08-12 2023-02-16 Dexter-Russell, Inc. System and method for automated sharpening or resharpening of cutting tools
AU2021465534A1 (en) * 2021-09-21 2024-04-04 Darex, Llc Sharpener with swing arm abrasive assembly
CN118024430A (zh) * 2021-11-01 2024-05-14 青岛高测科技股份有限公司 硅棒切割系统的切割装置及硅棒切割系统
CN113793822B (zh) * 2021-11-17 2022-04-12 乐山高测新能源科技有限公司 硅棒处理系统
CN114055454B (zh) * 2021-12-15 2023-07-14 重庆远创光电科技有限公司 发动机端盖和线箱机器人视觉引导定位装置
US11839975B2 (en) 2022-01-24 2023-12-12 VAIA Technologies LLC Controlling a robotic arm based on profilometer scans to perform precision workstation operations upon a workpiece
WO2023149958A1 (en) * 2022-02-04 2023-08-10 Lam Research Corporation Portable robot for semiconductor equipment maintenance tasks
CN114789389A (zh) * 2022-04-27 2022-07-26 北京机科国创轻量化科学研究院有限公司 一种立环自动化打磨生产线
CN115008265A (zh) * 2022-06-22 2022-09-06 句容新易捷环保设备有限公司 一种防止刀具晃动且可收集废屑的刀具打磨装置
CN115284028A (zh) * 2022-08-19 2022-11-04 科品(苏州)特殊钢有限公司 一种热作模具钢的限位装置
CN116652710B (zh) * 2023-07-27 2024-01-30 江苏洪鑫精密科技有限公司 一种雕刻刀具加工设备
CN117921490B (zh) * 2024-03-20 2024-05-17 淄博海泰新光光学技术有限公司 一种高光率激光透镜球面铣磨装置
CN117949390B (zh) * 2024-03-26 2024-06-04 浙江三元龙兴科技股份有限公司 一种三元催化器视觉检测设备及其方法

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US4934110A (en) * 1985-04-22 1990-06-19 John Juranitch Edge sharpening apparatus
US5655959A (en) * 1993-08-20 1997-08-12 Juranitch; John Knife edge sharpener
US20020025757A1 (en) * 2000-05-02 2002-02-28 Andreas Gross Grinding machine and method of sharpening blades
US20110281503A1 (en) * 2010-05-07 2011-11-17 Knecht Maschinenbau Gmbh Apparatus for grinding hand knives
WO2012091670A1 (en) * 2010-12-30 2012-07-05 Wanner Anders Force controlled grinding robot system

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Publication number Priority date Publication date Assignee Title
US4934110A (en) * 1985-04-22 1990-06-19 John Juranitch Edge sharpening apparatus
US4926345A (en) * 1988-03-25 1990-05-15 Hughes Aircraft Company Robotic component lead trimmer
US5655959A (en) * 1993-08-20 1997-08-12 Juranitch; John Knife edge sharpener
US20020025757A1 (en) * 2000-05-02 2002-02-28 Andreas Gross Grinding machine and method of sharpening blades
US20110281503A1 (en) * 2010-05-07 2011-11-17 Knecht Maschinenbau Gmbh Apparatus for grinding hand knives
WO2012091670A1 (en) * 2010-12-30 2012-07-05 Wanner Anders Force controlled grinding robot system

Also Published As

Publication number Publication date
US10661406B2 (en) 2020-05-26
WO2019140220A1 (en) 2019-07-18
US20190210177A1 (en) 2019-07-11
EP3737529A1 (de) 2020-11-18
EP3737529B1 (de) 2024-05-01

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